#include "PrismaticZ.h"
#include "RigidBodyNode.h"
#include "Mat6x6.h"
#include "PrescribedMotion.h"
#include "EOMData.h"
#include "ABAData.h"

using namespace RSIM;
using namespace std;

///////////////////////////////////////////////////////

int PrismaticZ::getJointDOF()const{return 1;}

///////////////////////////////////////////////////////

void PrismaticZ::calc_H_x_UDot(const State& state, double *h_x_udot) const{
        h_x_udot[5] = state.getUDotForNode(this->NodeIndex_)[0];
}

///////////////////////////////////////////////////////

void PrismaticZ::setDefaultQ(double *q)const{
        q[0] = 0.0;	
}

///////////////////////////////////////////////////////

void PrismaticZ::setDefaultU(double *u)const{
        u[0] = 0.0;
}

///////////////////////////////////////////////////////

void PrismaticZ::calcQDot(State& state)const{
        state.wgetQDotForNode(this->NodeIndex_)[0] = state.getUForNode(this->NodeIndex_)[0];
}

///////////////////////////////////////////////////////

void PrismaticZ::updRelVelocity(const State& state, Vect3& w, Vect3& v)const{
        v(2) = state.getUForNode(this->NodeIndex_)[0];
}

///////////////////////////////////////////////////////

PrismaticZ::PrismaticZ(const int& NodeIndex):Joint(PrismaticZJoint){
        this->NodeIndex_ = NodeIndex;
}

///////////////////////////////////////////////////////

PrismaticZ* PrismaticZ::New(const int& NodeIndex){
        return new PrismaticZ(NodeIndex);
}

///////////////////////////////////////////////////////

void PrismaticZ::printJointType() const{
        cout<<"Joint Type=PrismaticZ\n";
}

///////////////////////////////////////////////////////

void PrismaticZ::updJointTransform(	const double *q,
                                                const RigidBodyNode *Parent,
                                                const int& pChildID,
                                                double *betak){
        double tmp[] = {0.0,0.0,q[0]};
        this->T_MF_.wgetP().copy(tmp);
        
        this->updBetaK(q,Parent,pChildID,betak);
}

///////////////////////////////////////////////////////

void PrismaticZ::updBetaK(const double *q,
                                const RigidBodyNode *Parent,
                                const int& pChildID,
                                double *betak)const{
        if(Parent){
                // Calculate betak in F basis of parent
                const double *T_FM_P_Ptr = Parent->data_->getBodyTransformFM()[pChildID].P().Ptr();
                const double *T_FM_R_Ptr = Parent->data_->getBodyTransformFM()[pChildID].R().Ptr();
                
                betak[0]=T_FM_P_Ptr[0];
                betak[1]=T_FM_P_Ptr[1];
                betak[2]=T_FM_P_Ptr[2];

                betak[0] += T_FM_R_Ptr[2]*q[0];
                betak[1] += T_FM_R_Ptr[5]*q[0];
                betak[2] += T_FM_R_Ptr[8]*q[0];
        }
}

///////////////////////////////////////////////////////

void PrismaticZ::updVelocity(const State& state, 
                                const RigidBodyNode *Parent,
                                const Rotation& prF_C_F, 
                                const double *betak,
                                Vect3& w,
                                Vect3& v) const {
                                        
        const Vect3& pr_w = Parent->data_->getAngularVelocity();
        const Vect3& pr_v = Parent->data_->getLinearVelocity();
        
        // 1. F_C_prF*pr_w is the absolute angular velocity
        // of the parent expressed in the joint's F frame
        double *wptr = w.wPtr();
        FastOps::transpose_mult_mat33_vec3(prF_C_F.Ptr(),pr_w.Ptr(),wptr);
        
        double v_tmp[3];
        
        // omega x r
        FastOps::cross(pr_w.Ptr(),betak,v_tmp);
        
        // v + omega x r
        v_tmp[0] += pr_v(0);
        v_tmp[1] += pr_v(1);
        v_tmp[2] += pr_v(2);
        
        // convert v + omega x r to F basis of this body
        FastOps::transpose_mult_mat33_vec3(prF_C_F.Ptr(), v_tmp, v.wPtr());
        
        // Velocity = v + omega x r + qdot
        v.wPtr()[2] += state.getUForNode(this->NodeIndex_)[0];
}

///////////////////////////////////////////////////////

void PrismaticZ::calcAKT(	const RigidBodyNode *Parent, 
                                const RigidBodyNode *Body,
                                const int& ChildID,
                                const double *betak,
                                State& state,
                                Vect6& sAkt) const{	
        this->calcQDot(state);
        double *UDot = state.wgetUDotForNode(this->NodeIndex_);
        
        if(Parent){		
                const double *U = state.getUForNode(this->NodeIndex_);
        
                // AKT is calculated in F basis of this body
                double *akt_ptr = sAkt.wPtr();
                
                // set Akt to zero to clear existing values.
                akt_ptr[0] = 0.0;akt_ptr[1] = 0.0;akt_ptr[2] = 0.0;
                
                const double *prFCF_Ptr = Body->data_->getRotationFCF().Ptr();
                
                double s_betak[3], ang_vel[3];
                
                // Angular velocity of parent expressed in F of parent
                const double *parent_ang_ptr = Parent->data_->getAngularVelocity().Ptr();
                
                // express angular velocity and betak in F basis of this body
                FastOps::transpose_mult_mat33_vec3(prFCF_Ptr,parent_ang_ptr,ang_vel);
                FastOps::transpose_mult_mat33_vec3(prFCF_Ptr,betak,s_betak);
                
                // cross( w^{k-1}, cross(w^{k-1}, \beta^{k-1}) ) {expressed in F of this body}
                FastOps::wxwxr(ang_vel, s_betak, akt_ptr+3);				
                
                // 2*cross(w^k, v^{k+1}_{k+1}u^k+1)
                akt_ptr[3] += 2*U[0]*ang_vel[1];
                akt_ptr[4] += -2*U[0]*ang_vel[0];
                        
                // In this case, Akt = Akt + p^k_k \dot{u}^k
                if(this->isMotionPrescribedAndActive_){
                        // Update QDot_ cache from prescribed motion
                        this->PM_->setUDot(state.getSysData(),UDot);
                        akt_ptr[5] += UDot[0];
                }
        } // if(Parent)
        else{
                if(this->isMotionPrescribedAndActive_){
                        this->PM_->setUDot(state.getSysData(),UDot);
                }
        }
}

///////////////////////////////////////////////////////

void PrismaticZ::sweepBackwards(	const bool& isLeaf, 
                                        const int& ChildID,
                                        const Vect6& sAkt,
                                        const Rotation& FCF,					    
                                        const EOMData *eom,
                                        const double *betak,
                                        RigidBodyNode *Parent,
                                        ABAData *aba) const{

        if(Parent){
                Mat6x6 *Ik3 = aba->wgetIk3();
                Vect6 *Fk3 = aba->wgetFk3();			
                
                // cFk = Fk3 - Ik3*A^{k-1}_t
                this->calc_cFk(Fk3->Ptr(),Ik3->Ptr(),sAkt.Ptr(),aba->wgetcFk()->wPtr());
                
                double sIk3[36], sFk3[6];
                if(!isMotionPrescribedAndActive_){
                        double triang_ik3[36],triang_cfk[6];
                        this->calc_Triang_x_Ik3_TransZ(Ik3->Ptr(),triang_ik3);
                        this->calc_Triang_x_cFk_TransZ(Ik3->Ptr(),aba->getcFk()->Ptr(),triang_cfk);

                        FastOps::spatial_basis_shift_mat(FCF.Ptr(), triang_ik3, sIk3);
                        FastOps::spatial_basis_shift_vec(FCF.Ptr(), triang_cfk, sFk3);
                }
                else{
                        FastOps::spatial_basis_shift_mat(FCF.Ptr(), Ik3->Ptr(), sIk3);
                        FastOps::spatial_basis_shift_vec(FCF.Ptr(), aba->getcFk()->Ptr(), sFk3);
                }

                double Ik3Child[36], Fk3Child[6];		
                this->calc_skbeta_x_Ik3_x_tskbeta(sIk3, betak, Ik3Child);
                this->calc_skbeta_x_cFk(sFk3, betak, Fk3Child);

                Parent->data_->wgetABAData()->wgetIk3()->add(Ik3Child);
                Parent->data_->wgetABAData()->wgetFk3()->add(Fk3Child);				
        }
}

///////////////////////////////////////////////////////

void PrismaticZ::sweepForward(	const RigidBodyNode *Parent,
                                const int& ChildID,
                                const Vect6& sAkt,
                                const Rotation& FCF,
                                const ABAData *aba,
                                const double *betak,
                                EOMData *eom,
                                State& state
                                ){				

        double *UDot = state.wgetUDotForNode(this->NodeIndex_);
        const double *ik3_ptr = aba->getIk3()->Ptr();
        const double *fk3_ptr = aba->getFk3()->Ptr();
        const double *cfk_ptr = aba->getcFk()->Ptr();

        Vect6 *Ak1 = eom->wgetAk1();
        double *ak1_ptr = Ak1->wPtr();	
        
        if(Parent){
                {			
                        const double *Parent_Ak1_Ptr = Parent->data_->getEOMData()->getAk1()->Ptr();
                        double s_ak1[6];
                        FastOps::transpose_skbeta_x_V(Parent_Ak1_Ptr, betak, s_ak1);
                        FastOps::transpose_spatial_basis_shift_vec(FCF.Ptr(),s_ak1,ak1_ptr);			
                }
                
                if(!isMotionPrescribedAndActive_){
                        this->calc_UDot_TransZ(ik3_ptr,ak1_ptr,cfk_ptr,UDot); // uvFlag			
                        ak1_ptr[5] += UDot[0];
                }

                Ak1->add(sAkt.Ptr());				
        } // if(Parent)
        else{
                if(!isMotionPrescribedAndActive_){
                        // Udot			
                        UDot[0] = fk3_ptr[5]/ik3_ptr[35];
                        
                        // If motion is prescribed, Udot is already set in call to Prismatic::calcAKT
                }
                // Spatial acceleration of the F frame of root body.
                double ak1_tmp[]={0.0,0.0,0.0,0.0,0.0,UDot[0]};
                Ak1->copy(ak1_tmp);		
        }
        // calculate the spatial constraint force acting on this body.
        this->calc_m_cFk(fk3_ptr, ik3_ptr, ak1_ptr, eom->wgetFkc1()->wPtr());
}

///////////////////////////////////////////////////////